package edu.wpi.first.wpilibj.templates.commands;

/**
 *
 * @author Super NURDs
 */
public class DoCollectorStowToFeeder extends CommandBase {

    private double speed = -0.35;
    private double m_timeout = 2.25;

    public DoCollectorStowToFeeder() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(myCollector);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
        m_timeout = oi.GetFeederTimeout();
        setTimeout(m_timeout);
        myCollector.setPositionSpeed(speed);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return isTimedOut();
    }

    // Called once after isFinished returns true
    protected void end() {
        myCollector.setPositionSpeed(0.0);
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
        end();
    }
}
